python train.py --task=OneFrankaCabinetPCPartial --task_config=cfg/franka_drawer_PC_partial_cloud_close_test.yaml --algo=ppo_pc_pure --algo_config=cfg/ppo_pc_pure/config.yaml --headless --rl_device=cuda:1 --sim_device=cuda:1 --test --seed=0 --model_dir=./logs/test/franka_cabinet_PC_partial/ppo_pc_pure/ppo_pc_pure_0515_partial_open_drawer_352_128_lr1e-7_0.25_noprop_seed515/model_2400.pt